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<div class="title">jump_mpc.cpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">This is part of OpenLoong Dynamics Control, an open project for the control of biped robot,</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">Copyright (C) 2024 Humanoid Robot (Shanghai) Co., Ltd, under Apache 2.0.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">Feel free to use in any purpose, and cite OpenLoong-Dynamics-Control in any style, to contribute to the advancement of the community.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> &lt;https://atomgit.com/openloong/openloong-dyn-control.git&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> &lt;web@openloong.org.cn&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;MJ_interface.h&quot;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;GLFW_callbacks.h&quot;</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &quot;data_logger.h&quot;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;PVT_ctrl.h&quot;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &quot;mpc.h&quot;</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &quot;pino_kin_dyn.h&quot;</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;useful_math.h&quot;</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &quot;data_logger.h&quot;</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">const</span> <span class="keywordtype">double</span> dt = 0.001;</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// MuJoCo load and compile model</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keywordtype">char</span> error[1000] = <span class="stringliteral">&quot;Could not load binary model&quot;</span>;</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;mjModel *mj_model = mj_loadXML(<span class="stringliteral">&quot;../models/scene.xml&quot;</span>, 0, error, 1000);</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;mjData *mj_data = mj_makeData(mj_model);</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160; </div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> **argv) {</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <span class="comment">// initialize classes</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    <a class="code" href="classUIctr.html">UIctr</a> uiController(mj_model, mj_data);   <span class="comment">// UI control for Mujoco</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <a class="code" href="classMJ__Interface.html">MJ_Interface</a> mj_interface(mj_model, mj_data); <span class="comment">// data interface for Mujoco</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <a class="code" href="classPin__KinDyn.html">Pin_KinDyn</a> kinDynSolver(<span class="stringliteral">&quot;../models/AzureLoong.urdf&quot;</span>); <span class="comment">// kinematics and dynamics solver</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    <a class="code" href="classMPC.html">MPC</a> mpc_force(dt);  <span class="comment">// mpc controller</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <a class="code" href="classPVT__Ctr.html">PVT_Ctr</a> pvtCtr(mj_model-&gt;opt.timestep, <span class="stringliteral">&quot;../common/joint_ctrl_config.json&quot;</span>);<span class="comment">// PVT joint control</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <a class="code" href="structDataBus.html">DataBus</a> RobotState(kinDynSolver.model_nv); <span class="comment">// data bus</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <a class="code" href="classDataLogger.html">DataLogger</a> logger(<span class="stringliteral">&quot;../record/datalog.log&quot;</span>); <span class="comment">// data logger</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <span class="keywordtype">int</span> model_nv=kinDynSolver.model_nv;</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <span class="comment">// initialize UI: GLFW</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    uiController.iniGLFW();</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    uiController.enableTracking(); <span class="comment">// enable viewpoint tracking of the body 1 of the robot</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    uiController.createWindow(<span class="stringliteral">&quot;Demo&quot;</span>,</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;                              <span class="keyword">false</span>); <span class="comment">// NOTE: if the saveVideo is set to true, the raw recorded file could be 2.5 GB for 15 seconds!</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="comment">// ini data logger quill file logger</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;simTime&quot;</span>, 1);</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;motor_pos_des&quot;</span>, model_nv  - 6);</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;motor_pos_cur&quot;</span>, model_nv - 6);</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;motor_vel_cur&quot;</span>, model_nv  - 6);</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;motor_tor_des&quot;</span>, model_nv - 6);</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;motor_tor_out&quot;</span>,model_nv  - 6);</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;rpyVal&quot;</span>, 3);</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;gpsVal&quot;</span>, 3);</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;fe_l_pos_L_des&quot;</span>, 3);</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;fe_r_pos_L_des&quot;</span>, 3);</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;fe_l_pos_L&quot;</span>, 3);</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;fe_r_pos_L&quot;</span>, 3);</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;Ufe&quot;</span>, 12);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    logger.finishItermAdding();</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="comment">// ini position and posture for foot-end and hand</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    Eigen::Vector3d fe_l_pos_W_des, fe_r_pos_W_des;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    Eigen::Vector3d fe_l_pos_L_des = {-0.018, 0.113, -1.01};</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    Eigen::Vector3d fe_r_pos_L_des = {-0.018, -0.116, -1.01};</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    Eigen::Vector3d fe_l_eul_L_des = {-0.000, -0.008, -0.000};</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    Eigen::Vector3d fe_r_eul_L_des = {0.000, -0.008, 0.000};</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    Eigen::Matrix3d fe_l_rot_des = eul2Rot(fe_l_eul_L_des(0), fe_l_eul_L_des(1), fe_l_eul_L_des(2));</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    Eigen::Matrix3d fe_r_rot_des = eul2Rot(fe_r_eul_L_des(0), fe_r_eul_L_des(1), fe_r_eul_L_des(2));</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    Eigen::Vector3d fe_l_pos_L_base, fe_r_pos_L_base;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    Eigen::Vector3d hd_l_pos_L_des={-0.02, 0.32, -0.159};</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    Eigen::Vector3d hd_r_pos_L_des={-0.02, -0.32, -0.159};</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    Eigen::Vector3d hd_l_eul_L_des={-1.7581, 0.2129, 2.9581};</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    Eigen::Vector3d hd_r_eul_L_des={1.7581, 0.2129, -2.9581};</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    Eigen::Matrix3d hd_l_rot_des= eul2Rot(hd_l_eul_L_des(0),hd_l_eul_L_des(1),hd_l_eul_L_des(2));</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    Eigen::Matrix3d hd_r_rot_des= eul2Rot(hd_r_eul_L_des(0),hd_r_eul_L_des(1),hd_r_eul_L_des(2));</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keyword">auto</span> resLeg = kinDynSolver.computeInK_Leg(fe_l_rot_des, fe_l_pos_L_des, fe_r_rot_des, fe_r_pos_L_des);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keyword">auto</span> resHand = kinDynSolver.computeInK_Hand(hd_l_rot_des, hd_l_pos_L_des, hd_r_rot_des, hd_r_pos_L_des);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="comment">// print info to the console</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordtype">double</span> startJumpingTime = 8.5; <span class="comment">// start jumping time</span></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keywordtype">double</span> prepareTime = 3;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    uint16_t jump_state = 0;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keywordtype">double</span> stand_z = -0.8;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keywordtype">double</span> jump_z = 0.2;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <span class="keywordtype">double</span> count = 0.0;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    mjtNum simstart = mj_data-&gt;time;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="keywordtype">double</span> simTime = mj_data-&gt;time;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keywordtype">double</span> simEndTime = 13;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="comment">// Main loop:</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordflow">while</span> (!glfwWindowShouldClose(uiController.window)) {</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        simstart = mj_data-&gt;time;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        <span class="keywordflow">while</span> (mj_data-&gt;time - simstart &lt; 1.0 / 60.0 &amp;&amp; uiController.runSim) {</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;            mj_step(mj_model, mj_data);</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;            simTime = mj_data-&gt;time;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;            <span class="comment">// Read the sensors:</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;            mj_interface.updateSensorValues();</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;            mj_interface.dataBusWrite(RobotState);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;            <span class="comment">// update kinematics and dynamics info</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;            kinDynSolver.dataBusRead(RobotState);</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;            kinDynSolver.computeJ_dJ();</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;            kinDynSolver.computeDyn();</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;            kinDynSolver.dataBusWrite(RobotState);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;            Eigen::Matrix&lt;double, Eigen::Dynamic, Eigen::Dynamic&gt; Jac_stand(12, model_nv - 6);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;            Jac_stand.setZero();</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;            Jac_stand.block(0, 0, 6, model_nv - 6) = RobotState.J_l.block(0, 6, 6, model_nv - 6);</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;            Jac_stand.block(6, 0, 6, model_nv - 6) = RobotState.J_r.block(0, 6, 6, model_nv - 6);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;            <span class="comment">// Enter here functions to send actuator commands, like:</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;            <span class="keywordflow">if</span> (simTime &lt;= prepareTime) {</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;                fe_l_pos_L_des = RobotState.fe_l_pos_L;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;                fe_r_pos_L_des = RobotState.fe_r_pos_L;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;                fe_l_pos_W_des = RobotState.base_rot * fe_l_pos_L_des;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;                fe_r_pos_W_des = RobotState.base_rot * fe_r_pos_L_des;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;                RobotState.motors_pos_des = eigen2std(resLeg.jointPosRes + resHand.jointPosRes);</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;                RobotState.motors_vel_des.assign(model_nv - 6, 0);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;                RobotState.motors_tor_des.assign(model_nv - 6, 0);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;                fe_l_pos_L_base = fe_l_pos_L_des;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;                fe_r_pos_L_base = fe_r_pos_L_des;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;            } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (simTime &lt; startJumpingTime &amp;&amp; simTime &gt; prepareTime) {</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;                fe_l_pos_L_des(2) = Ramp(fe_l_pos_L_des(2), stand_z, 0.1 * 0.001); <span class="comment">// 0.5</span></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;                fe_r_pos_L_des(2) = Ramp(fe_r_pos_L_des(2), stand_z, 0.1 * 0.001);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;                <span class="keyword">auto</span> resLeg = kinDynSolver.computeInK_Leg(fe_l_rot_des, fe_l_pos_L_des, fe_r_rot_des, fe_r_pos_L_des);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;                <span class="keyword">auto</span> resHand = kinDynSolver.computeInK_Hand(hd_l_rot_des, hd_l_pos_L_des, hd_r_rot_des, hd_r_pos_L_des);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;                RobotState.base_pos_stand = RobotState.base_pos;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;                RobotState.pfeW_stand.block&lt;3, 1&gt;(0, 0) = fe_l_pos_W_des;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;                RobotState.pfeW_stand.block&lt;3, 1&gt;(3, 0) = fe_r_pos_W_des;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;                RobotState.motors_pos_des = eigen2std(resLeg.jointPosRes + resHand.jointPosRes);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;                RobotState.motors_vel_des.assign(model_nv - 6, 0);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;                RobotState.motors_tor_des.assign(model_nv - 6, 0);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;<span class="comment">//              RobotState.motors_pos_des[19+4] = RobotState.motors_pos_des[19+4] + 0.01*RobotState.base_rpy(1);</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="comment">//              RobotState.motors_pos_des[19+10] = RobotState.motors_pos_des[19+10] + 0.01*RobotState.base_rpy(1);</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;                RobotState.legState = DataBus::DSt;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;            } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (simTime &gt;= startJumpingTime) {</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;                <span class="keywordtype">double</span> jump_vel_des[3] = {0.0, 0.0, sqrt(2.0 * 9.8 * jump_z)};</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;                <span class="keywordtype">double</span> jump_acc_t = 2.0 * (0.9 + stand_z) / jump_vel_des[2];<span class="comment">//0.2;</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;                <span class="keywordtype">double</span> jump_eul_des[3] = {0.0, -10.0 / 180.0 * 3.1415926, 0.0};</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;                <span class="keywordflow">if</span> (jump_state == 0) {<span class="comment">// Jump</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;                    mpc_force.enable();</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;                    Eigen::Matrix&lt;double, 1, nx&gt; L_diag;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;                    Eigen::Matrix&lt;double, 1, nu&gt; K_diag;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;                    L_diag &lt;&lt;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;                           1.0, 10.0, 1.0,<span class="comment">//eul</span></div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;                            10.0, 1.0, 1.0,<span class="comment">//pCoM</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;                            1e-5, 1e-5, 1e-5,<span class="comment">//w</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;                            0.1, 0.01, 10.0;<span class="comment">//vCoM</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;                    K_diag &lt;&lt;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;                           1.0, 1.0, 1.0,<span class="comment">//fl</span></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                            1.0, 1.0, 1.0,</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;                            1.0, 1.0, 1.0,<span class="comment">//fr</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;                            1.0, 1.0, 1.0, 1.0;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;                    mpc_force.set_weight(1e-8, L_diag, K_diag);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;                    RobotState.js_eul_des(1) = Ramp(RobotState.js_eul_des(1), jump_eul_des[1],</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;                                                    fabs(jump_eul_des[1] / jump_acc_t * dt));</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;                    RobotState.js_vel_des(0) = Ramp(RobotState.js_vel_des(0), jump_vel_des[0],</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;                                                    fabs(jump_vel_des[0] / jump_acc_t * dt));</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;                    RobotState.js_vel_des(2) = Ramp(RobotState.js_vel_des(2), jump_vel_des[2],</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;                                                    fabs(jump_vel_des[2] / jump_acc_t * dt));</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;                    RobotState.js_pos_des(2) = RobotState.js_pos_des(2) + RobotState.dq(2) * dt;<span class="comment">//</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;                    fe_l_pos_L_des = RobotState.base_rot * RobotState.fe_l_pos_L;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;                    fe_r_pos_L_des = RobotState.base_rot * RobotState.fe_r_pos_L;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;                    <span class="keywordflow">if</span> (simTime &gt; startJumpingTime + jump_acc_t) {<span class="comment">//改条件，腿离地</span></div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;<span class="comment">//                    if ((RobotState.fL[1] + RobotState.fR[1] &gt; 260.0) || simTime &lt; startJumpingTime + jump_acc_t - 0.1){{</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;                        jump_state = 3;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;                        RobotState.pfeW0.block&lt;3, 1&gt;(0, 0) = fe_l_pos_W_des;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;                        RobotState.pfeW0.block&lt;3, 1&gt;(3, 0) = fe_r_pos_W_des;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;                    }</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;                } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (jump_state == 3) { <span class="comment">//up</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;                    mpc_force.disable();</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;                    fe_l_pos_W_des[0] = Ramp(fe_l_pos_W_des[0], RobotState.pfeW0[0] + 0.05,</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;                                             fabs(0.05 / (jump_vel_des[2] / 9.8) * dt));</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;                    fe_l_pos_W_des[2] = Ramp(fe_l_pos_W_des[2], stand_z, 5.0 * dt);</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;                    fe_r_pos_W_des[0] = Ramp(fe_r_pos_W_des[0], RobotState.pfeW0[3] + 0.05,</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;                                             fabs(0.05 / (jump_vel_des[2] / 9.8) * dt));</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;                    fe_r_pos_W_des[2] = Ramp(fe_r_pos_W_des[2], stand_z, 5.0 * dt);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;                    fe_l_pos_L_des = RobotState.base_rot.inverse() * fe_l_pos_W_des;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;                    fe_r_pos_L_des = RobotState.base_rot.inverse() * fe_r_pos_W_des;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;                    <span class="keyword">auto</span> resLeg = kinDynSolver.computeInK_Leg(fe_l_rot_des, fe_l_pos_L_des, fe_r_rot_des,</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;                                                              fe_r_pos_L_des);</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;                    <span class="keyword">auto</span> resHand = kinDynSolver.computeInK_Hand(hd_l_rot_des, hd_l_pos_L_des, hd_r_rot_des,</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;                                                                hd_r_pos_L_des);</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;                    Eigen::Matrix&lt;double, 31, 1&gt; IKRes;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;                    IKRes = resLeg.jointPosRes + resHand.jointPosRes;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;                    IKRes(model_nv-6 - 8) = IKRes(model_nv-6 - 8) + RobotState.base_rpy(1) + 1.0 / 180.0 * 3.1415926;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;                    IKRes(model_nv-6 - 2) = IKRes(model_nv-6 - 2) + RobotState.base_rpy(1) + 1.0 / 180.0 * 3.1415926;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;                    <span class="keywordflow">if</span> (RobotState.dq(2) &lt; 0.1) {</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;                        jump_state = 4;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;                        RobotState.pfeW0.block&lt;3, 1&gt;(0, 0) = RobotState.base_rot * RobotState.fe_l_pos_L;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;                        RobotState.pfeW0.block&lt;3, 1&gt;(3, 0) = RobotState.base_rot * RobotState.fe_r_pos_L;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;                    }</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;                    pvtCtr.enablePV();</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;                    RobotState.motors_pos_des = eigen2std(IKRes);</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;                    RobotState.motors_vel_des.assign(model_nv - 6, 0);</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;                    RobotState.motors_tor_des.assign(model_nv - 6, 0);</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;                } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (jump_state == 4) { <span class="comment">// down</span></div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;                    mpc_force.disable();</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;                    fe_l_pos_W_des[0] = Ramp(fe_l_pos_W_des[0], RobotState.pfeW0[0] + 0.02, fabs(2.0 * dt));</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;                    fe_l_pos_W_des[2] = Ramp(fe_l_pos_W_des[2], stand_z, 10.0 * dt);</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;                    fe_r_pos_W_des[0] = Ramp(fe_r_pos_W_des[0], RobotState.pfeW0[3] + 0.02, fabs(2.0 * dt));</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;                    fe_r_pos_W_des[2] = Ramp(fe_r_pos_W_des[2], stand_z, 10.0 * dt);</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;                    fe_l_pos_L_des = RobotState.base_rot.inverse() * fe_l_pos_W_des;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;                    fe_r_pos_L_des = RobotState.base_rot.inverse() * fe_r_pos_W_des;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;                    <span class="keyword">auto</span> resLeg = kinDynSolver.computeInK_Leg(fe_l_rot_des, fe_l_pos_L_des, fe_r_rot_des,</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;                                                              fe_r_pos_L_des);</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;                    <span class="keyword">auto</span> resHand = kinDynSolver.computeInK_Hand(hd_l_rot_des, hd_l_pos_L_des, hd_r_rot_des,</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;                                                                hd_r_pos_L_des);</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;                    Eigen::MatrixXd IKRes;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;                    IKRes = resLeg.jointPosRes + resHand.jointPosRes;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;                    IKRes(model_nv-6 - 8) = IKRes(model_nv-6 - 8) + RobotState.base_rpy(1) + 1.0 / 180.0 * 3.1415926;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;                    IKRes(model_nv-6 - 2) = IKRes(model_nv-6 - 2) + RobotState.base_rpy(1) + 1.0 / 180.0 * 3.1415926;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;                    <span class="keywordflow">if</span> (simTime &gt; startJumpingTime + 0.65) {</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;                        jump_state = 5;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;                        RobotState.pfeW0.block&lt;3, 1&gt;(0, 0) = RobotState.base_rot * RobotState.fe_l_pos_L;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;                        RobotState.pfeW0.block&lt;3, 1&gt;(3, 0) = RobotState.base_rot * RobotState.fe_r_pos_L;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;                        RobotState.js_pos_des(0) = RobotState.base_pos(0);</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;                        RobotState.js_pos_des(1) = RobotState.base_pos(1);</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;                        RobotState.js_pos_des(2) = RobotState.base_pos(2);</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;                    }</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;                    pvtCtr.enablePV();</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;                    RobotState.motors_pos_des = eigen2std(IKRes);</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;                    RobotState.motors_vel_des.assign(model_nv - 6, 0);</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;                    RobotState.motors_tor_des.assign(model_nv - 6, 0);</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;                } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (jump_state == 5) {</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;                    mpc_force.enable();</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;                    Eigen::Matrix&lt;double, 1, nx&gt; L_diag;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;                    Eigen::Matrix&lt;double, 1, nu&gt; K_diag;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;                    L_diag &lt;&lt;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;                           2.0, 8.0, 1.0,<span class="comment">//eul 1, 100,  1</span></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;                            100.0, 100.0, 200.0,<span class="comment">//pCoM</span></div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;                            1e-4, 1e-4, 2e-4,<span class="comment">//w</span></div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;                            0.02, 0.01, 0.3;<span class="comment">//vCoM</span></div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;                    K_diag &lt;&lt;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;                           1.0, 0.5, 1.0,<span class="comment">//fl</span></div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;                            1.0, 10.0, 1.0,</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;                            1.0, 0.5, 1.0,<span class="comment">//fr</span></div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;                            1.0, 10.0, 1.0, 1.0;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;                    mpc_force.set_weight(1e-8, L_diag, K_diag);</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160; </div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;                    <span class="keywordtype">double</span> tt = 0.4;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;                    RobotState.js_pos_des(2) = Ramp(RobotState.js_pos_des(2), 1.08, 1 * dt);</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;                    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 3; i++)</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;                        RobotState.js_eul_des(i) = Ramp(RobotState.js_eul_des(i), 0.0,</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;                                                        fabs(30.0 / 180.0 * 3.1415926 * dt));</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;                    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 3; i++)</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;                        RobotState.js_omega_des(i) = Ramp(RobotState.js_omega_des(i), 0.0,</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;                                                          fabs(50.0 / 180.0 * 3.1415926 * dt));</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;                    RobotState.js_vel_des(0) = Ramp(RobotState.js_vel_des(0), 0.0, 10.0 * dt);</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;                    RobotState.js_vel_des(1) = Ramp(RobotState.js_vel_des(1), 0.0, 10.0 * dt);</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;                    RobotState.js_vel_des(2) = Ramp(RobotState.js_vel_des(2), 0.0, 50.0 * dt);</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;                    <span class="keywordflow">if</span> (count &lt; tt / dt)</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;                        count = count + 1.0;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160; </div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;                }</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;            }</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;            <span class="comment">// ------------- MPC ------------</span></div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;            mpc_force.dataBusRead(RobotState);</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;            mpc_force.cal();</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;            mpc_force.dataBusWrite(RobotState);</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;            Eigen::Matrix&lt;double, Eigen::Dynamic, Eigen::Dynamic&gt; Uje(model_nv-6, 1);</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;            Uje.setZero();</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;            <span class="keywordflow">if</span> (mpc_force.get_ENA()) {</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;                Uje = Jac_stand.transpose() * (-1.0) * RobotState.fe_react_tau_cmd.block&lt;nu - 1, 1&gt;(nu * 0, 0);</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;                <span class="keywordtype">double</span> jTor_max[6] = {400.0, 100.0, 400.0, 400.0, 80.0, 10.0};</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;                <span class="keywordtype">double</span> jTor_min[6] = {-400.0, -100.0, -400.0, -400.0, -80.0, -10.0};</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;                <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 6; i++) {</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;                    Limit(Uje(i + model_nv-6-12), jTor_max[i], jTor_min[i]);</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;                    Limit(Uje(i + model_nv-6-12 + 6), jTor_max[i], jTor_min[i]);</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;                }</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;                <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 12; i++) {</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;                    pvtCtr.disablePV(i + model_nv-6-12);</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;                    RobotState.motors_tor_des[i + model_nv-6-12] = Uje(i + model_nv-6-12);</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;                }</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;            }</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;            <span class="comment">// joint PVT controller</span></div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;            pvtCtr.dataBusRead(RobotState);</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;            pvtCtr.setJointPD(1500.0,50,<span class="stringliteral">&quot;J_hip_l_pitch&quot;</span>);</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;            pvtCtr.setJointPD(2000.0,80,<span class="stringliteral">&quot;J_ankle_l_pitch&quot;</span>);</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;            pvtCtr.setJointPD(1500.0,50,<span class="stringliteral">&quot;J_hip_r_pitch&quot;</span>);</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;            pvtCtr.setJointPD(2000.0,80,<span class="stringliteral">&quot;J_ankle_r_pitch&quot;</span>);</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;            <span class="keywordflow">if</span> (simTime &lt;= startJumpingTime) {</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;                pvtCtr.calMotorsPVT(110.0 / 1000.0 / 180.0 * 3.1415);</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;            } <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;                pvtCtr.calMotorsPVT();</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;            }</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;            pvtCtr.dataBusWrite(RobotState);</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160; </div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;            <span class="comment">// give the joint torque command to Webots</span></div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;            mj_interface.setMotorsTorque(RobotState.motors_tor_out);</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;            <span class="comment">// data save</span></div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;            logger.startNewLine();</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;            logger.recItermData(<span class="stringliteral">&quot;simTime&quot;</span>, simTime);</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;            logger.recItermData(<span class="stringliteral">&quot;motor_pos_des&quot;</span>, RobotState.motors_pos_des);</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;            logger.recItermData(<span class="stringliteral">&quot;motor_pos_cur&quot;</span>, RobotState.motors_pos_cur);</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;            logger.recItermData(<span class="stringliteral">&quot;motor_vel_cur&quot;</span>, RobotState.motors_vel_cur);</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;            logger.recItermData(<span class="stringliteral">&quot;motor_tor_des&quot;</span>, RobotState.motors_tor_des);</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;            logger.recItermData(<span class="stringliteral">&quot;motor_tor_out&quot;</span>, RobotState.motors_tor_out);</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;            logger.recItermData(<span class="stringliteral">&quot;rpyVal&quot;</span>, RobotState.rpy);</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;            logger.recItermData(<span class="stringliteral">&quot;gpsVal&quot;</span>, RobotState.base_pos);</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;            logger.recItermData(<span class="stringliteral">&quot;fe_l_pos_L_des&quot;</span>, fe_l_pos_L_des);</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;            logger.recItermData(<span class="stringliteral">&quot;fe_r_pos_L_des&quot;</span>, fe_r_pos_L_des);</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;            logger.recItermData(<span class="stringliteral">&quot;fe_l_pos_L&quot;</span>, RobotState.fe_l_pos_W);</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;            logger.recItermData(<span class="stringliteral">&quot;fe_r_pos_L&quot;</span>, RobotState.fe_r_pos_W);</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;            logger.recItermData(<span class="stringliteral">&quot;Ufe&quot;</span>, RobotState.fe_react_tau_cmd.block&lt;nu - 1, 1&gt;(nu * 0, 0));</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;            logger.finishLine();</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;        };</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;        <span class="keywordflow">if</span> (mj_data-&gt;time &gt;= simEndTime)</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160; </div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;        uiController.updateScene();</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;    };</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160; </div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;    <span class="comment">// free visualization storage</span></div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;    uiController.Close();</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160; </div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;    <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;}</div>
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